/*******************************************************************************
 * Copyright (c) 2013, Daniel Murphy
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 * 	* Redistributions of source code must retain the above copyright notice,
 * 	  this list of conditions and the following disclaimer.
 * 	* Redistributions in binary form must reproduce the above copyright notice,
 * 	  this list of conditions and the following disclaimer in the documentation
 * 	  and/or other materials provided with the distribution.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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package org.jbox2d.dynamics.contacts;

import org.jbox2d.common.Mat22;
import org.jbox2d.common.Settings;
import org.jbox2d.common.Vec2;

public class ContactVelocityConstraint {
  public VelocityConstraintPoint[] points = new VelocityConstraintPoint[Settings.maxManifoldPoints];
  public final Vec2 normal = new Vec2();
  public final Mat22 normalMass = new Mat22();
  public final Mat22 K = new Mat22();
  public int indexA;
  public int indexB;
  public float invMassA, invMassB;
  public float invIA, invIB;
  public float friction;
  public float restitution;
  public float tangentSpeed;
  public int pointCount;
  public int contactIndex;

  public ContactVelocityConstraint() {
    for (int i = 0; i < points.length; i++) {
      points[i] = new VelocityConstraintPoint();
    }
  }

  public static class VelocityConstraintPoint {
    public final Vec2 rA = new Vec2();
    public final Vec2 rB = new Vec2();
    public float normalImpulse;
    public float tangentImpulse;
    public float normalMass;
    public float tangentMass;
    public float velocityBias;
  }
}